The invention belongs to the technical field of four-wheel steering control, and discloses a dynamic self-adaptive adjustment four-wheel steering predictive control rapid implementation method, which comprises the following steps of: describing a response vehicle steering stability state as a control region according to the steering stability and safety requirements of a four-wheel steering vehicle, and dividing a stable region, a sub-stable region and an unstable region in the control region; a model prediction controller is designed, and dynamic self-adaptive adjustment of the four-wheel steering vehicle on the safety requirement in the driving process is achieved by adjusting the target function weight coefficient; the four-wheel steering model prediction controller based on the FPGA is designed by utilizing the advantages of parallelism and rapidity of an FPGA chip on the basis of a look-up table method aiming at the nonlinear characteristic of a tire, so that the dynamic self-adaptive adjustment of the safety requirement of a four-wheel steering vehicle in the driving process can be realized, and the driving safety of the four-wheel steering vehicle is improved. And the problems of calculation complexity, storage and search complexity and constraint processing are solved.
本发明属于四轮转向控制技术领域,且公开了一种动态自适应调节的四轮转向预测控制快速实现方法,本发明根据四轮转向车辆操纵稳定安全需求,将反应车辆操纵稳定性状态描述为控制区域,在其中划分出稳定、次稳定和不稳定区域,设计模型预测控制器通过调节目标函数权重系数以实现四轮转向车辆在行驶过程中对安全需求的动态自适应调节;针对轮胎的非线性特性,在基于查表法的基础上,利用FPGA芯片的并行性、快速性的优点,设计基于FPGA的四轮转向模型预测控制器,可以实现四轮转向车辆在行驶过程中安全需求的动态自适应调节,并解决了计算复杂度、存储和搜索复杂度以及约束处理的问题。
Dynamic self-adaptive adjustment four-wheel steering predictive control rapid implementation method
一种动态自适应调节的四轮转向预测控制快速实现方法
2024-01-12
Patent
Electronic Resource
Chinese
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